CN104316782A - Pantograph monitoring method and system - Google Patents
Pantograph monitoring method and system Download PDFInfo
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- CN104316782A CN104316782A CN201410503206.6A CN201410503206A CN104316782A CN 104316782 A CN104316782 A CN 104316782A CN 201410503206 A CN201410503206 A CN 201410503206A CN 104316782 A CN104316782 A CN 104316782A
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Abstract
The embodiment of the invention discloses a pantograph monitoring method and system and belongs to the fault monitoring technical field. According to the pantograph monitoring method and system provided by the embodiment of the invention, video images of a pantograph are acquired; and an image analysis method is utilized to monitor whether large sparks, middle sparks or small sparks exist. The generation of the sparks is monitored in a hierarchical manner, and an additional measurement circuit is not required, electromagnetic interference can be avoided, and the generation of faults can be forecasted more accurately; and the image analysis method is utilized, and therefore, real-time automatic monitoring of the attitude of the pantograph can be monitored. Compared with manual inspection, the pantograph monitoring method and system have the advantages of higher accuracy and timeliness.
Description
Technical field
The present invention relates to malfunction monitoring technical field, particularly relate to pantograph monitoring method and system.
Background technology
Pantograph is that electric propulsion train obtains the electrical equipment of electric energy from contact net.Pantograph is arranged on roof of train, and as shown in Figure 1, mainly comprise slide plate, cross bar, bow angle and support, described slide plate directly contacts with contact line conducting wire its upper frame agent structure, by contact line conducting wire from contact net by obtaining current for train.
In train travelling process, the various motions of pantograph, the plane motion of such as slide plate and support and the luffing of slide plate, can cause the attitude parameter of pantograph to change.The attitude parameter of pantograph refers to mechanism's geometric parameter of pantograph, mainly comprises the angle between support and axis (in Fig. 1 shown in dotted line), and the angle of cross bar end bend.If the attitude parameter of pantograph changes, namely pantograph can not remain on correct operating attitude, can cause pantograph movement locus, on direction of traffic, deviation occurs, affect the safe operation of train.
On the other hand, pantograph is in operation, and during contact net by geo-stationary, if contact net is subject to External force interference, causes the vibration of specific modality by producing dynamic interaction between pantograph and contact net two systems.When vibrating violent, pantograph pan and contact wire can be caused to disengage, form off-line, produce electric spark, so not only can accelerate the insulation harm of electrical equipment, also can produce electromagnetic interference (EMI) to communication link, more seriously directly affect being flowed of pantograph, even can cause power supply momentary interruption, make train lose tractive force and damping force.
It can thus be appreciated that, when pantograph is run, if can not know the change of pantograph attitude and the generation of electric spark, will bring great hidden danger to safe train operation, therefore the attitude monitoring of pantograph and electric spark monitoring are the important steps ensureing safe train operation.Inventor, realizing finding in process of the present invention, for the attitude of pantograph, still mainly takes the method for hand inspection before and after running at present; And for the monitoring of off-line, the method of main employing electro-detection, namely the change of resistance, the electric current of pantograph or the electric current of contact net between pantograph and contact wire is detected, but this method needs extra testing circuit, and be easily subject to electromagnetic interference (EMI) and affect accuracy of detection, usually can only detect " large off-line ", the situation that namely off-line is serious, the exception caused when can not detect and occur medium or sparklet.
Summary of the invention
Lack pantograph attitude monitoring and the low problem of electric spark monitoring accuracy for overcoming in correlation technique, the application provides a kind of pantograph monitoring method and system.
According to the first aspect of the embodiment of the present application, a kind of pantograph monitoring method is provided, comprises:
Gather pantograph video image;
Obtain the half-tone information of the present frame of the pantograph video image collected;
Judge whether to there is spark:
If in comparison pantograph video image present frame and reference frame corresponding region gray scale after, the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark;
If described present frame exists gray scale extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark;
If the brightness of the intersection point of described present frame middle slide plate and contact line conducting wire is greater than default luminance threshold, then determine to there is sparklet.
Optionally, described pantograph monitoring method, also comprises:
When determining to there is large spark, or determine to there is medium spark, or when determining to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, report to the police.
Optionally, described pantograph monitoring method, also comprises:
According to present frame acquisition time, and/or the camera GPS locating information corresponding according to present frame acquisition time, and/or the train bar identifying information corresponding according to present frame acquisition time, to occurring that the region of electric spark positions.
Optionally, described pantograph monitoring method, also comprises and judges that whether pantograph attitude is abnormal:
In the present frame of the pantograph video image collected, search for the position of pantograph support and the intersection point of support, obtain the attitude parameter of support according to the position of described support and the intersection point of support;
In described present frame, search for the bow angle of pantograph, determine according to the bow angle searched the attitude parameter bending angle;
The attitude parameter at the attitude parameter of support or bow angle is compared with corresponding preset range respectively, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, then determines that pantograph attitude occurs abnormal.
Wherein, in described present frame, search for the position of pantograph support and the intersection point of support, and in described present frame, search for the bow angle of pantograph, comprising:
Present frame described in binary conversion treatment;
White connected domain after search present frame binary conversion treatment;
The position of pantograph support and the intersection point of support is searched in the white connected domain searched, and the bow angle of search pantograph.
Optionally, described pantograph monitoring method, also comprises: when there is not large spark, judges whether pantograph attitude occurs exception.
According to the second aspect of the embodiment of the present application, a kind of pantograph attitude monitoring system is provided, comprises:
Collecting unit, for gathering pantograph video image;
Graphics processing unit, for obtaining the half-tone information of the present frame of the pantograph video image collected;
Large spark monitoring means, for the gray scale of corresponding region in comparison pantograph video image present frame and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark;
Medium spark monitoring means, for searching for the extremal region of present frame gray, if there is described extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark;
Sparklet monitoring means, for searching for the intersection point of slide plate and contact line conducting wire in described present frame, if the brightness of described intersection point is greater than default luminance threshold, then determines to there is sparklet.
Optionally, described pantograph monitoring system, also comprises:
Alarm unit, determines to there is large spark for working as, or determines to there is medium spark, or when determining to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, report to the police.
Optionally, described pantograph monitoring system, also comprises:
Positioning unit, for according to present frame acquisition time, and/or the camera GPS locating information corresponding according to present frame acquisition time, and/or the train bar identifying information corresponding according to present frame acquisition time, to occurring that the region of electric spark positions.
Optionally, described pantograph monitoring system, also comprises:
Whether pantograph attitude monitoring unit, exist exception for monitoring pantograph attitude, and described pantograph attitude monitoring unit comprises:
Support search subelement, for searching for the position of pantograph support and the intersection point of support in described present frame;
Support attitude parameter obtains subelement, for obtaining the attitude parameter of support according to the position of described support and the intersection point of support;
Bow angle search subelement, for searching for the bow angle of pantograph in described present frame;
Bow angle attitude parameter obtains subelement, for obtaining the attitude parameter bending angle according to the bow angle searched;
Abnormal judgment sub-unit, for being compared with corresponding preset range respectively by the attitude parameter at the attitude parameter of support or bow angle, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, determines that pantograph attitude occurs abnormal.
The technical scheme that the embodiment of the present application provides can comprise following beneficial effect: gather pantograph video image, use image analysis method, whether monitoring exists large spark, medium spark and sparklet, do not need extra metering circuit, not by electromagnetic interference (EMI), there is better accuracy, and use image analysis method, realize the real-time automatic monitoring of monitoring pantograph attitude, compare hand inspection and there is more pin-point accuracy.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the application.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, for those of ordinary skills, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of a kind of pantograph monitoring method shown in the application one exemplary embodiment.
Fig. 2 is the schematic flow sheet of a kind of pantograph monitoring method shown in another exemplary embodiment of the application.
Fig. 3 is the schematic flow sheet of a kind of pantograph monitoring method shown in the another exemplary embodiment of the application.
Fig. 4 is the structural representation of a kind of pantograph monitoring system shown in the application one exemplary embodiment.
Fig. 5 is the structural representation of a kind of pantograph monitoring system shown in another exemplary embodiment of the application.
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the application.On the contrary, they only with as in appended claims describe in detail, the example of system and method that some aspects of the application are consistent.
In order to complete understanding the application, refer to numerous concrete details in the following detailed description, but it should be appreciated by those skilled in the art that the application can realize without the need to these details.In other embodiments, be not described in detail known method, process, assembly and circuit, in order to avoid unnecessarily cause embodiment fuzzy.
Fig. 1 is the schematic flow sheet of a kind of pantograph monitoring method shown in the application one exemplary embodiment, and as shown in Figure 1, described method comprises:
Step S101, gathers pantograph video image.
Wherein, by being arranged on the camera shooting pantograph video on train top, according to the pantograph video acquisition pantograph video image of camera shooting, pantograph sequence of video images is formed.The installation site of described camera should photograph all intersection points with contact line conducting wire of pantograph.
Step S102, obtains the half-tone information of the present frame of the pantograph video image collected.
Wherein, for carrying out Real-Time Monitoring to pantograph, every two field picture of pantograph sequence of video images is analyzed.Present frame for pantograph video image carries out gray processing process, obtains the half-tone information of present frame.
Step S103, judges whether to there is spark:
Step S1031, if in present frame described in comparison and reference frame corresponding region gray scale after, the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark;
Step S1032, if described present frame exists gray scale extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark;
Step S1033, if the brightness value of the intersection point of described present frame middle slide plate and contact line conducting wire is greater than default luminance threshold, then determines to there is sparklet.
Wherein, in step S1031, the gray scale of corresponding region in the present frame of comparison pantograph video image and reference frame, described reference frame is the image that the identical camera selected in advance take the pantograph normal condition obtained, and described corresponding region is the region of present frame and reference frame same position when aliging.Described comparison can by described present frame and the alignment of described reference frame, the gray scale of comparison co-located region.If in present frame described in comparison and reference frame corresponding region gray scale after, the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold (referred to as condition 1), and the gray scale in region different with described reference frame gray scale in described present frame is greater than the gray scale (referred to as condition 2) of corresponding region in described reference frame, and in described present frame in the gray scale in the region that gray scale is different and reference frame the difference of the gray scale of corresponding region be greater than default gray threshold (referred to as condition 3), then determine to there is large spark.When specifying that described gray threshold is the value being greater than zero, condition 3 can contain condition 2, omits the judgement of condition 2.
In the embodiment that the first is possible, if there is the corresponding region different with described reference frame gray scale in described present frame, calculate the area summation in region different with described reference frame gray scale in all present frames, judge whether described area summation is greater than default region threshold, otherwise, determine to there is not large spark; If described area summation is greater than default region threshold, then judge whether the gray scale in region different with described reference frame gray scale in described present frame is greater than default gray threshold, otherwise, determine to there is not large spark; If the difference of the gray scale of corresponding region is greater than default gray threshold in the gray scale in region different with described reference frame gray scale in described present frame and reference frame, then determine to there is large spark, otherwise, determine to there is not large spark.
In the embodiment that the second is possible, if there is the corresponding region different with described reference frame gray scale in described present frame, then judge whether the difference of the gray scale of corresponding region in the gray scale in region different with described reference frame gray scale in described present frame and reference frame is greater than default gray threshold, otherwise there is not large spark, wherein said gray threshold be on the occasion of; If the difference of the gray scale of corresponding region is greater than default gray threshold in the gray scale in region different with described reference frame gray scale in described present frame and reference frame, then calculate the area summation in region different with described reference frame gray scale in all present frames, judge whether described area summation is greater than default region threshold, otherwise, determine to there is not large spark; If described area summation is greater than default region threshold, then determine to there is large spark, otherwise, determine to there is not large spark.
The spark which kind of degree described region threshold and described gray threshold determine is large spark, and the change of the gradation of image that can be caused by statistics spark in various degree, selects setting in advance according to statistics.Such as, described region threshold can be set as 1/4 of the region-wide area of present frame, described gray threshold is set as 200, area summation when region different with described reference frame gray scale in present frame exceedes 1/4 of the region-wide area of present frame, when the gray scale in region different with described reference frame gray scale in described present frame is greater than 200, determine to there is large spark.
Wherein, in step S1032, according to the half-tone information of present frame, the gray scale extremal region of search present frame, described gray scale extremal region is the region containing local gray level extreme value, if there is described gray scale extremal region, namely can search the gray scale extremal region of present frame, calculate the total area of described gray scale extremal region, if the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark, otherwise, determine to there is not medium spark.Search gray scale extremal region can use conventional local extremum searching method.Wherein, described extremal region threshold value can according to the situation of spark classification, and the change of the gradation of image caused by statistics spark in various degree, selects setting in advance according to statistics.
Wherein, in step S1033, in described present frame, search for the intersection point of slide plate and contact line conducting wire, if the brightness of described intersection point is greater than default luminance threshold, then determine to there is sparklet.Search for the intersection point of slide plate and contact line conducting wire in the current frame, can comprise:
(a1) pre-service is carried out to present frame;
(a2) the pretreated present frame of binary conversion treatment;
(a3) the white connected domain obtained after searching for present frame binary conversion treatment;
(a4) in the white connected domain searched, search for the intersection point of slide plate and contact line conducting wire.
Wherein, pre-service comprises and carries out filtering and denoising to present frame, to make follow-up search more accurate in step (a1).In most cases take blue sky as background due to pantograph video image, for red, green, blue three pixel accesses of present frame, only denoising is carried out to blue channel gray level image, not only can differentiate between images content and background, compare and use triple channel more can save operation time and resource.
After pre-service is carried out to present frame, use binary conversion treatment present frame.After binary conversion treatment, image is only rendered as black and white, can there is large stretch of white connected domain in the picture, search out white connected domain.For the white connected domain searched, Hough transformation can be used to search the straight line at two support places, the intersection point of two support place straight lines can be obtained simultaneously.After the intersection point of the two-arm place straight line obtained, from intersection point along axis upwards, sobel operator Edge Search technology can be used, carry out Edge Search, according to the bow angle gradient scope preset, search bow angle, namely search the point of gradient in the gradient scope of bow angle, then this point is the point at bow angle, can obtain the position of bending angle thus.The straight line (lines of two Gong Jiao upper ends) at cross bar place can be determined according to the position at bow angle.Utilize Hough transformation can also search the straight line crossing with cross bar, i.e. the straight line at contact line conducting wire place.The intersection point of the straight line at cross bar place and the straight line at contact line conducting wire place is the intersection point of slide plate and contact line conducting wire.After obtaining the intersection point of slide plate and contact line conducting wire, obtain the brightness value of described intersection point, if the brightness of described intersection point is greater than luminance threshold, then determine to there is sparklet.
Search bow angle also can use canny edge detecting technology, but for the search in knee, sobel Edge Search technology has better accuracy.
Described default bow angle gradient scope is determined according to the angle of bend at pantograph bow angle.The change of the brightness of image that described luminance threshold can be caused by statistics spark in various degree, selects setting in advance according to statistics.
Search for the intersection point of slide plate and contact line conducting wire also can use background separation and the image-recognizing method of other routines.
Wherein, for step S103, its sub-step S1031-S1033 can perform, namely to the pantograph video image that each frame collects, all executed in parallel or order perform the judgement that whether there is large spark, medium spark and sparklet, if but usually determine to there is large spark, just unnecessarily medium spark and sparklet is determined whether there is again, if determine to there is medium spark, also unnecessarily sparklet is determined whether there is again, although executed in parallel or order perform step S1031-S1033, the judgement to danger can not be omitted, program exists redundancy.Therefore, in a kind of possible preferred version, first carry out the monitoring of big fire flower, judge whether to there is large spark, if there is large spark, then end step S103, namely judges complete, no longer carries out the monitoring of medium spark and sparklet; If there is no large spark, then carry out the monitoring of medium spark, judges whether to there is medium spark, if there is medium spark, then end step S103, no longer carries out the monitoring of sparklet; If there is no medium spark, then carry out the monitoring of sparklet, judge whether to there is sparklet.
Described pantograph monitoring method, can also comprise:
When determining to there is large spark, or determine to there is medium spark, or when determining to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, report to the police.
Pantograph and contact line conducting wire have at least two intersection points, and the intersection point of usual pantograph and contact line conducting wire is four.When only having minority intersection point to produce sparklet, usually can be classified as normal condition, not reporting to the police, when the number of hits producing sparklet exceedes some, then illustrate and occurred exception, should report to the police.Therefore can preset security number, when occurring that the number of hits of sparklet is greater than default safe number, such as, for single armed bow, when occurring that the number of hits of sparklet is greater than 2, report to the police.
Described warning can be sound and light alarm, and simultaneously on monitoring interface display be which kind of is reported to the police, such as when determining to there is large spark, sound and light alarm can be carried out, and on monitoring interface, show large spark alarm picture, word or sound.When there is not sparklet, can show normal.
Described pantograph monitoring method, can also comprise:
According to present frame acquisition time, and/or the camera GPS locating information corresponding according to present frame acquisition time, and/or the train bar identifying information corresponding according to present frame acquisition time, to occurring that the region of electric spark positions.
Wherein, in train travelling process, whether monitoring pantograph there is electric spark, when monitoring electric spark, if knowing the region occurring electric spark, namely knowing the contact line conducting wire section occurring electric spark, being then conducive to follow-up maintenance.To occurring that the region of electric spark positions, in the embodiment that the first is possible, if the present frame according to pantograph video image judges to there is electric spark, then can judge that train is at the place that described acquisition time runs or section according to the acquisition time of described present frame, thus the contact line conducting wire section occurring electric spark can be obtained.In the embodiment that the second is possible, in the camera for obtaining pantograph video image, GPS module can be installed, in train travelling process, record the GPS locating information of described GPS module simultaneously, described GPS locating information is corresponding with the time, if the present frame according to pantograph video image judges to there is electric spark, then can find corresponding GPS locating information according to present frame acquisition time, obtain the region occurring electric spark.In the embodiment that the third is possible, in train travelling process, other camera shooting train bar number can be used, and the time of the corresponding shooting of record, if the present frame according to pantograph video image judges to there is electric spark, then can find corresponding train bar identifying information according to present frame acquisition time, the position at train bar place can be obtained according to train bar identifying information, thus the region of electric spark appearance can be obtained.
For the location in the region that electric spark occurs, also above-mentioned three kinds of embodiments can be combined, the result obtained each other is confirmed mutually, to obtain the region that electric spark more accurately occurs.
Fig. 2 is the schematic flow sheet of a kind of pantograph monitoring method shown in another exemplary embodiment of the application, and as shown in Figure 2, described method can comprise:
Step S201, gathers pantograph video image.
Step S202, obtains the half-tone information of the present frame of the pantograph video image collected.
Wherein, step S201 and step S202 are identical with step S102 with step S101 respectively.
Step S203, judges whether pantograph attitude occurs exception.
Wherein, step S203 comprises;
(b1) in described present frame, search for the position of pantograph support and the intersection point of support, obtain the attitude parameter of support according to the position of described support and the intersection point of support;
(b2) in described present frame, search for the bow angle of pantograph, obtain according to the bow angle searched the attitude parameter bending angle;
(b3) attitude parameter at the attitude parameter of support or bow angle is compared with corresponding preset range respectively, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, determine that pantograph attitude occurs abnormal.
Wherein, in described present frame, search for the position of pantograph support and the intersection point of support and in described present frame, search for the bow angle of pantograph, can comprise:
(c1) pre-service is carried out to present frame;
(c2) the pretreated present frame of binary conversion treatment;
(c3) the white connected domain obtained after searching for present frame binary conversion treatment;
(c4) in the white connected domain searched, search for the bow angle of the position of pantograph support and the intersection point of support and pantograph.
Wherein, the middle pre-service of step (c1) comprises carries out filtering and denoising to present frame, preferably for red, green, blue three pixel accesses of present frame, only carries out denoising to blue channel gray level image.
After pre-service is carried out to present frame, use binary conversion treatment present frame.Then the white connected domain after search binary conversion treatment in image.For the white connected domain searched, Hough transformation can be used to search the straight line at two support places, the intersection point of two support place straight lines can be obtained simultaneously, the angle of two supports and axis can be obtained according to the straight line at two support places and the intersection point of two support place straight lines, described two supports and the angle of axis and the attitude parameter of support, also only can get the attitude parameter of angle as support of one of them support and axis.
After the intersection point of the two-arm place straight line obtained, from intersection point along axis upwards, sobel operator Edge Search technology can be used, carry out Edge Search, according to the bow angle gradient scope preset, search bow angle, simultaneously can according to described to the form at bow angle obtain the angle of bend bending angle, namely the angle of bend at described bow angle bends the attitude parameter at angle.
After obtaining the attitude parameter of support or the attitude parameter at bow angle, the attitude parameter and the support attitude parameter preset range that compare support are carried out, and compare the attitude parameter at bow angle and bow angle attitude parameter preset range.If the attitude parameter of support exceeds support attitude parameter preset range, or bow angle attitude parameter exceeds bow angle attitude parameter preset range, determines that pantograph attitude occurs abnormal.Described support attitude parameter preset range and bow angle attitude parameter preset range are determined according to the support attitude parameter scope corresponding when normal of the attitude of pantograph and bow angle attitude parameter scope.
Step S204, judge whether to there is large spark: the gray scale of corresponding region in present frame described in comparison and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and the gray scale in the region that gray scale is different is greater than default gray threshold in described present frame, then determine to there is large spark; Otherwise, perform step S204.
Step S205, judges whether to there is medium spark: the gray scale extremal region searching for described present frame, if described present frame exists gray scale extremal region, then determines to there is medium spark; Otherwise, perform step S205.
Step S206, judges whether to there is sparklet: the intersection point searching for described present frame middle slide plate and contact line conducting wire, if the brightness value of described intersection point is greater than default luminance threshold, then determines to there is sparklet.
Wherein, step S204-S206 can see step S1031-S1033.Whether abnormal step S203 and step S204 can sequentially carry out also can carrying out simultaneously, namely carry out the judgement of pantograph attitude simultaneously respectively and whether there is the judgement of electric spark.
Step S207, when determining to there is large spark, or determines to there is medium spark, or determines to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, or when pantograph attitude occurs abnormal, reports to the police.
Wherein, described warning can be sound and light alarm, and simultaneously on monitoring interface display be which kind of is reported to the police, when there is not sparklet, can no-spark be shown, when pantograph attitude does not occur abnormal, pantograph attitude can be shown normal.
Step S208, according to present frame acquisition time, to occurring electric spark and/or occurring that the region of pantograph attitude exception positions.
Wherein, if judge to there is electric spark according to the present frame of pantograph video image, then judge that train is at the place that described acquisition time runs or section according to the acquisition time of described present frame, obtain the contact line conducting wire section occurring electric spark; If it is abnormal to judge that pantograph attitude occurs according to the present frame of pantograph video image, then judges that train is at the place that described acquisition time runs or section according to the acquisition time of described present frame, obtain the contact line conducting wire section occurring pantograph attitude exception; If judge that both having there is sparklet has also occurred that pantograph attitude is abnormal according to the present frame of pantograph video image, then judge that train is at the place that described acquisition time runs or section according to the acquisition time of described present frame, be there is sparklet and the contact line conducting wire section occurring pantograph attitude exception simultaneously.
Step S208 can also be corresponding according to present frame acquisition time camera GPS locating information, and/or the train bar identifying information corresponding according to present frame acquisition time, to there is electric spark and/or occurring that the region of pantograph exception positions.
Fig. 3 is the schematic flow sheet of a kind of pantograph monitoring method shown in another exemplary embodiment of the application, and as shown in Figure 3, described method can comprise:
Step S301, gathers pantograph video image.
Step S302, obtains the half-tone information of the present frame of the pantograph video image collected.
Wherein, step S301 and step S302 are identical with step S302 with step S301 respectively.
Step S303, judge whether to there is large spark: the gray scale of corresponding region in present frame described in comparison and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and the gray scale in the region that gray scale is different is greater than default gray threshold in described present frame, then determine to there is large spark; Otherwise, perform step S304 and step S305.
Step S304, judges whether pantograph attitude occurs exception.
Wherein, step S304 comprises:
(d1) in described present frame, search for the position of pantograph support and the intersection point of support, obtain the attitude parameter of support according to the position of described support and the intersection point of support;
(d2) in described present frame, search for the bow angle of pantograph, obtain according to the bow angle searched the attitude parameter bending angle;
(d3) attitude parameter at the attitude parameter of support or bow angle is compared with corresponding preset range respectively, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, determine that pantograph attitude occurs abnormal.
Step S305, judges whether to there is medium spark: the gray scale extremal region searching for described present frame, if described present frame exists gray scale extremal region, then determines to there is medium spark; Otherwise, perform step S206.
Step S306, judges whether to there is sparklet: the intersection point searching for described present frame middle slide plate and contact line conducting wire, if the brightness value of described intersection point is greater than default luminance threshold, then determines to there is sparklet.
Wherein, step S303, S305, S306 can see step S1031-S1033, and step S304 can participate in step S203.
Wherein, during owing to there is large spark, large stretch of hot spot is there will be in pantograph video image, search for from pantograph video image support, support intersection point and bow angle comparatively difficult, the accuracy of pantograph attitude monitoring declines, when therefore can just think there is not large spark, judge whether pantograph attitude occurs exception.
Step S307, when determining to there is large spark, or determines to there is medium spark, or determines to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, or when pantograph attitude occurs abnormal, reports to the police.
Step S308, according to present frame acquisition time, to occurring electric spark and/or occurring that the region of pantograph attitude exception positions.
By the description of above embodiment of the method, those skilled in the art can be well understood to the mode that the application can add required general hardware platform by software and realize, hardware can certainly be passed through, but in a lot of situation, the former is better embodiment.Based on such understanding, the technical scheme of the application can embody with the form of software product the part that prior art contributes in essence in other words, and be stored in a storage medium, comprise all or part of step of some instructions in order to make a smart machine perform method described in each embodiment of the application.And aforesaid storage medium comprises: the various media that can store data and program code such as ROM (read-only memory) (ROM), random access memory (RAM), magnetic disc or CDs.
Fig. 4 is the structural representation of a kind of pantograph monitoring system shown in the application one exemplary embodiment.As shown in Figure 4, described system comprises:
Collecting unit U401, for gathering pantograph video image.
Graphics processing unit U402, is connected with U401, for obtaining the half-tone information of the present frame of the pantograph video image collected.
Wherein, described collecting unit U401 can comprise camera and Computer Vision unit, the pantograph video acquisition pantograph video image that described Computer Vision unit is taken according to camera, forms pantograph sequence of video images.Described collecting unit U401 also can for possessing the camera of Computer Vision function.The installation site of described camera should photograph all intersection points with contact line conducting wire of pantograph.
Large spark monitoring means U403, be connected with U402, for the gray scale of corresponding region in comparison pantograph video image present frame and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark.
Medium spark monitoring means U404, is connected with U402, and for searching for the extremal region of present frame gray, if there is described extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark.
Sparklet monitoring means U405, is connected with U401, for searching for the intersection point of slide plate and contact line conducting wire in described present frame, if the brightness of described intersection point is greater than default luminance threshold, then determines to there is sparklet.
Fig. 5 is the structural representation of a kind of pantograph monitoring system shown in another exemplary embodiment of the application.As shown in Figure 5, described system comprises:
Collecting unit U501, for gathering pantograph video image.
Graphics processing unit U502, is connected with U501, for obtaining the half-tone information of the present frame of the pantograph video image collected.
Large spark monitoring means U503, be connected with U502, for the gray scale of corresponding region in comparison pantograph video image present frame and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, and in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark.
Medium spark monitoring means U504, be connected with U503 and U502, for when for there is not large spark in the result that U503 monitors, the extremal region of search present frame gray, if there is described extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark.
Sparklet monitoring means U505, being connected with U504 and U501, for when the result that U504 monitors is not for existing medium spark, in described present frame, searching for the intersection point of slide plate and contact line conducting wire, if the brightness of described intersection point is greater than default luminance threshold, then determine to there is sparklet.
Pantograph attitude monitoring unit U506, is connected with U503 and U501, and for when the result that large spark monitoring means judges is no, whether monitoring pantograph attitude exists exception, and described pantograph attitude monitoring unit comprises:
Pre-service subelement U5061, for carrying out pre-service to described present frame, described pre-service comprises carries out denoising to the blue channel gray level image of described present frame;
Support search subelement U5062, is connected with U5061, for searching for the position of pantograph support and the intersection point of support in described present frame;
Support attitude parameter obtains subelement U5063, is connected, for obtaining the attitude parameter of support according to the position of described support and the intersection point of support with U5062;
Bow angle search subelement U5064, is connected with U5061, for searching for the bow angle of pantograph in described present frame;
Bow angle attitude parameter obtains subelement U5065, is connected with U5064, for obtaining the attitude parameter bending angle according to the bow angle searched;
Abnormal judgment sub-unit U5066, be connected with U5063 and U5065, for the attitude parameter at the attitude parameter of support or bow angle is compared with corresponding preset range respectively, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, determine that pantograph attitude occurs abnormal.
Alarm unit U507, is connected with U503, U504, U505 and U506, determines to there is large spark for working as, or determine to there is medium spark, or determine to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, or when pantograph attitude occurs abnormal, reporting to the police.
Positioning unit U508, is connected with U501, U503, U504, U505 and U506, according to present frame acquisition time, to occurring electric spark and/or occurring that the region of pantograph attitude exception positions.
Wherein, positioning unit U508 can also use camera GPS locating information that present frame acquisition time, present frame acquisition time are corresponding and/or the various combination according to train bar identifying information corresponding to present frame acquisition time, to occurring that the region of electric spark and pantograph attitude exception positions.
For convenience of description, various unit is divided into describe respectively with function when describing above system.Certainly, the function of each unit can be realized in same or multiple software and/or hardware when implementing the application.
Each embodiment in this instructions all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiments.Especially, for system or system embodiment, because it is substantially similar to embodiment of the method, so describe fairly simple, relevant part illustrates see the part of embodiment of the method.System described above and system embodiment are only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
It should be noted that, in this article, the such as relational terms of " first " and " second " etc. and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply these entities or there is relation or the backward of any this reality between operating.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
The above is only the embodiment of the application, those skilled in the art is understood or realizes the application.To be apparent to one skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a pantograph monitoring method, is characterized in that, comprising:
Gather pantograph video image;
Obtain the half-tone information of the present frame of the pantograph video image collected;
Judge whether to there is spark:
If in comparison pantograph video image present frame and reference frame corresponding region gray scale after, the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark;
If described present frame exists gray scale extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark;
If the brightness of the intersection point of described present frame middle slide plate and contact line conducting wire is greater than default luminance threshold, then determine to there is sparklet.
2. pantograph monitoring method as claimed in claim 1, is characterized in that, also comprise:
When determining to there is large spark, or determine to there is medium spark, or when determining to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, report to the police.
3. pantograph monitoring method as claimed in claim 1, is characterized in that, also comprise:
According to present frame acquisition time, and/or the camera GPS locating information corresponding according to present frame acquisition time, and/or the train bar identifying information corresponding according to present frame acquisition time, to occurring that the region of electric spark positions.
4. the pantograph monitoring method as described in any one of claim 1-3, is characterized in that, also comprises and judges that whether pantograph attitude is abnormal:
In the present frame of the pantograph video image collected, search for the position of pantograph support and the intersection point of support, obtain the attitude parameter of support according to the position of described support and the intersection point of support;
In described present frame, search for the bow angle of pantograph, determine according to the bow angle searched the attitude parameter bending angle;
The attitude parameter at the attitude parameter of support or bow angle is compared with corresponding preset range respectively, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, then determines that pantograph attitude occurs abnormal.
5. pantograph attitude monitoring method according to claim 4, is characterized in that, searches for the position of pantograph support and the intersection point of support in described present frame, and in described present frame, search for the bow angle of pantograph, comprising:
Present frame described in binary conversion treatment;
White connected domain after search present frame binary conversion treatment;
The position of pantograph support and the intersection point of support is searched in the white connected domain searched, and the bow angle of search pantograph.
6. pantograph monitoring method as claimed in claim 4, is characterized in that, also comprise: when there is not large spark, judge whether pantograph attitude occurs exception.
7. a pantograph monitoring system, is characterized in that, comprising:
Collecting unit, for gathering pantograph video image;
Graphics processing unit, for obtaining the half-tone information of the present frame of the pantograph video image collected;
Large spark monitoring means, for the gray scale of corresponding region in comparison pantograph video image present frame and reference frame, if the area summation in described present frame and the different region of reference frame gray scale is greater than default region threshold, in described present frame, the gray scale in the region that gray scale is different is greater than the gray scale of corresponding region in reference frame and is greater than default gray threshold with the difference of the gray scale of corresponding region in reference frame, then determine to there is large spark;
Medium spark monitoring means, for searching for the extremal region of present frame gray, if there is described extremal region, and the total area of described gray scale extremal region is greater than default extremal region threshold value, then determine to there is medium spark;
Sparklet monitoring means, for searching for the intersection point of slide plate and contact line conducting wire in described present frame, if the brightness of described intersection point is greater than default luminance threshold, then determines to there is sparklet.
8. pantograph monitoring system as claimed in claim 7, is characterized in that, also comprise:
Alarm unit, determines to there is large spark for working as, or determines to there is medium spark, or when determining to there is sparklet and occur that the number of hits of sparklet is greater than default safe number, report to the police.
9. pantograph monitoring system as claimed in claim 7, is characterized in that, also comprise:
Positioning unit, for according to present frame acquisition time, and/or the camera GPS locating information corresponding according to present frame acquisition time, and/or the train bar identifying information corresponding according to present frame acquisition time, to occurring that the region of electric spark positions.
10. the pantograph monitoring system as described in any one of claim 7-9, is characterized in that, also comprises:
Whether pantograph attitude monitoring unit, exist exception for monitoring pantograph attitude, and described pantograph attitude monitoring unit comprises:
Support search subelement, for searching for the position of pantograph support and the intersection point of support in described present frame;
Support attitude parameter obtains subelement, for obtaining the attitude parameter of support according to the position of described support and the intersection point of support;
Bow angle search subelement, for searching for the bow angle of pantograph in described present frame;
Bow angle attitude parameter obtains subelement, for obtaining the attitude parameter bending angle according to the bow angle searched;
Abnormal judgment sub-unit, for being compared with corresponding preset range respectively by the attitude parameter at the attitude parameter of support or bow angle, if the attitude parameter at the attitude parameter of support or bow angle exceeds corresponding preset range, determines that pantograph attitude occurs abnormal.
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| CN113859312A (en) * | 2021-09-30 | 2021-12-31 | 中车青岛四方机车车辆股份有限公司 | Pantograph fault alarm method and device based on vehicle-mounted PHM and rail vehicle |
| CN114067106A (en) * | 2022-01-12 | 2022-02-18 | 西南交通大学 | Inter-frame contrast-based pantograph deformation detection method and equipment and storage medium |
| CN114067106B (en) * | 2022-01-12 | 2022-04-15 | 西南交通大学 | Inter-frame contrast-based pantograph deformation detection method and equipment and storage medium |
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